text: import gym
  
  def mujoco_make(render, name):
      import mujoco
      if "pusher" in name:
          return mujoco.Pusher(render)
      return mujoco.Reacher(render)
  
  def ergojr_make(render, name):
      if "pusher" in name:
          from ergo_pusher_env import ErgoPusherEnv
          return ErgoPusherEnv(not render)
      else:
          from ergo_reacher_env import ErgoReacherEnv
          backlash = "backlash" in name
          if "simple" in name:
              return ErgoReacherEnv(not render, goals=1, multi_goal=False, terminates=False, simple=True, gripper=False, backlash=backlash)
          else:
              return ErgoReacherEnv(not render, goals=1, multi_goal=False, terminates=False, simple=False, gripper=False, backlash=backlash)
  
  def panda_make(render, name):
      import panda
      if "pusher" in name:
          return panda.Pusher(render)
      return panda.Reacher(render)
  
  def make_env(env_name, render, colab=True):
      render = render and not colab
      if "panda" in env_name:
          return panda_make(render, env_name)
      elif "ergojr" in env_name:
          return ergojr_make(render, env_name)
      elif "mujoco" in env_name:
          return mujoco_make(render, env_name)
      assert False
  
  